Abstract
This chapter describes an algorithm for determining the speed and the attitude of a sensor assembling constituted by a monocular camera and inertial sensors (three orthogonal accelerometers and three orthogonal gyroscopes). The system moves in a 3D unknown environment. The algorithm inputs are the visual and inertial measurements during a very short time interval. The outputs are the speed and attitude, the absolute scale and the bias affecting the inertial measurements. The determination of these outputs is obtained by a simple closed-form solution which analytically expresses the previous physical quantities in terms of the sensor measurements. This closed-form determination allows performing the overall estimation in a very short time interval and without the need of any initialization or prior knowledge. This is a key advantage since allows eliminating the drift on the absolute scale and on the orientation. The performance of the proposed algorithm is evaluated with real experiments.
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Martinelli, A., Siegwart, R. (2012). Vision and IMU Data Fusion: Closed-Form Determination of the Absolute Scale, Speed, and Attitude. In: Eskandarian, A. (eds) Handbook of Intelligent Vehicles. Springer, London. https://doi.org/10.1007/978-0-85729-085-4_52
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DOI: https://doi.org/10.1007/978-0-85729-085-4_52
Publisher Name: Springer, London
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